/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see .
*/
/*
IMU driver backend class. Each supported gyro/accel sensor type
needs to have an object derived from this class.
Note that drivers can implement just gyros or just accels, and can
also provide multiple gyro/accel instances.
*/
#pragma once
#include
#include
#include "AP_InertialSensor.h"
class AuxiliaryBus;
class AP_Logger;
class AP_InertialSensor_Backend
{
public:
AP_InertialSensor_Backend(AP_InertialSensor &imu);
AP_InertialSensor_Backend(const AP_InertialSensor_Backend &that) = delete;
// we declare a virtual destructor so that drivers can
// override with a custom destructor if need be.
virtual ~AP_InertialSensor_Backend(void) {}
/*
* Update the sensor data. Called by the frontend to transfer
* accumulated sensor readings to the frontend structure via the
* _publish_gyro() and _publish_accel() functions
*/
virtual bool update() = 0;
/*
* optional function to accumulate more samples. This is needed for drivers that don't use a timer to gather samples
*/
virtual void accumulate() {}
/*
* Configure and start all sensors. The empty implementation allows
* subclasses to already start the sensors when it's detected
*/
virtual void start() { }
/*
* Return an AuxiliaryBus if backend has another bus it is able to export
*/
virtual AuxiliaryBus *get_auxiliary_bus() { return nullptr; }
/*
* Return the unique identifier for this backend: it's the same for
* several sensors if the backend registers more gyros/accels
*/
int16_t get_id() const { return _id; }
//Returns the Clip Limit
float get_clip_limit() const { return _clip_limit; }
// notify of a fifo reset
void notify_fifo_reset(void);
/*
device driver IDs. These are used to fill in the devtype field
of the device ID, which shows up as INS*ID* parameters to
users. The values are chosen for compatibility with existing PX4
drivers.
If a change is made to a driver that would make existing
calibration values invalid then this number must be changed.
*/
enum DevTypes {
DEVTYPE_BMI160 = 0x09,
DEVTYPE_L3G4200D = 0x10,
DEVTYPE_ACC_LSM303D = 0x11,
DEVTYPE_ACC_BMA180 = 0x12,
DEVTYPE_ACC_MPU6000 = 0x13,
DEVTYPE_ACC_MPU9250 = 0x16,
DEVTYPE_ACC_IIS328DQ = 0x17,
DEVTYPE_ACC_LSM9DS1 = 0x18,
DEVTYPE_GYR_MPU6000 = 0x21,
DEVTYPE_GYR_L3GD20 = 0x22,
DEVTYPE_GYR_MPU9250 = 0x24,
DEVTYPE_GYR_I3G4250D = 0x25,
DEVTYPE_GYR_LSM9DS1 = 0x26,
DEVTYPE_INS_ICM20789 = 0x27,
DEVTYPE_INS_ICM20689 = 0x28,
DEVTYPE_INS_BMI055 = 0x29,
DEVTYPE_SITL = 0x2A,
DEVTYPE_INS_BMI088 = 0x2B,
DEVTYPE_INS_ICM20948 = 0x2C,
DEVTYPE_INS_ICM20648 = 0x2D,
DEVTYPE_INS_ICM20649 = 0x2E,
DEVTYPE_INS_ICM20602 = 0x2F,
DEVTYPE_INS_ICM20601 = 0x30,
DEVTYPE_INS_ADIS1647X = 0x31,
};
protected:
// access to frontend
AP_InertialSensor &_imu;
// semaphore for access to shared frontend data
HAL_Semaphore _sem;
//Default Clip Limit
float _clip_limit = 15.5f * GRAVITY_MSS;
void _rotate_and_correct_accel(uint8_t instance, Vector3f &accel);
void _rotate_and_correct_gyro(uint8_t instance, Vector3f &gyro);
// rotate gyro vector, offset and publish
void _publish_gyro(uint8_t instance, const Vector3f &gyro);
// this should be called every time a new gyro raw sample is
// available - be it published or not the sample is raw in the
// sense that it's not filtered yet, but it must be rotated and
// corrected (_rotate_and_correct_gyro)
// The sample_us value must be provided for non-FIFO based
// sensors, and should be set to zero for FIFO based sensors
void _notify_new_gyro_raw_sample(uint8_t instance, const Vector3f &accel, uint64_t sample_us=0);
// rotate accel vector, scale, offset and publish
void _publish_accel(uint8_t instance, const Vector3f &accel);
// this should be called every time a new accel raw sample is available -
// be it published or not
// the sample is raw in the sense that it's not filtered yet, but it must
// be rotated and corrected (_rotate_and_correct_accel)
// The sample_us value must be provided for non-FIFO based
// sensors, and should be set to zero for FIFO based sensors
void _notify_new_accel_raw_sample(uint8_t instance, const Vector3f &accel, uint64_t sample_us=0, bool fsync_set=false);
// set the amount of oversamping a accel is doing
void _set_accel_oversampling(uint8_t instance, uint8_t n);
// set the amount of oversamping a gyro is doing
void _set_gyro_oversampling(uint8_t instance, uint8_t n);
// indicate the backend is doing sensor-rate sampling for this accel
void _set_accel_sensor_rate_sampling_enabled(uint8_t instance, bool value) {
const uint8_t bit = (1<